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<a href="#pub-types">Public Types</a> &#124;
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<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a0dcb8a4552bb6b37259a61d601cd7d7e"><td class="memItemLeft" align="right" valign="top"><a id="a0dcb8a4552bb6b37259a61d601cd7d7e"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>LegState</b> { <b>LSt</b>
, <b>RSt</b>
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Public Member Functions</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>DataBus</b> (int model_nvIn)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>updateQ</b> ()</td></tr>
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Eigen::Matrix&lt; double, 3, 3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>eul2Rot</b> (double roll, double pitch, double yaw)</td></tr>
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Eigen::Quaterniond&#160;</td><td class="memItemRight" valign="bottom"><b>eul2quat</b> (double roll, double pitch, double yaw)</td></tr>
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Static Public Member Functions</h2></td></tr>
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const int&#160;</td><td class="memItemRight" valign="bottom"><b>model_nv</b></td></tr>
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const Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>fe_L_rot_L_off</b> =(Eigen::MatrixXd(3,3)&lt;&lt; 1,0,0, 0,1,0, 0,0,1).finished()</td></tr>
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const Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>fe_R_rot_L_off</b> =(Eigen::MatrixXd(3,3)&lt;&lt; 1,0,0, 0,1,0, 0,0,1).finished()</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>basePos</b> [3]</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>baseLinVel</b> [3]</td></tr>
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Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>stanceDesPos_W</b></td></tr>
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LegState&#160;</td><td class="memItemRight" valign="bottom"><b>legState</b></td></tr>
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LegState&#160;</td><td class="memItemRight" valign="bottom"><b>legStateNext</b></td></tr>
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Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>base_pos_stand</b></td></tr>
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Eigen::Matrix&lt; double, 6, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>pfeW_stand</b></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock">
<p class="definition">Definition at line <a class="el" href="data__bus_8h_source.html#l00015">15</a> of file <a class="el" href="data__bus_8h_source.html">data_bus.h</a>.</p>
</div><hr/>The documentation for this struct was generated from the following file:<ul>
<li><a class="el" href="data__bus_8h_source.html">data_bus.h</a></li>
</ul>
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